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Increase mesh allocation for vertices/indices in PyBullet.createCollisionShape

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See createMesh.py for an example.

The data has to fit in shared memory, hence the limit on Mac is lower than Windows and Linux:

#ifdef __APPLE__
#define B3_MAX_NUM_VERTICES 8192
#define B3_MAX_NUM_INDICES 32768
#else
#define B3_MAX_NUM_VERTICES 131072
#define B3_MAX_NUM_INDICES 524288
#endif
This commit is contained in:
Erwin Coumans
2019-01-03 16:19:28 -08:00
parent 21d9465d94
commit bf9efffa4b
7 changed files with 199 additions and 44 deletions
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29
examples/pybullet/pybullet.c
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@@ -6696,9 +6696,12 @@ static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVe
double vertex[3];
if (pybullet_internalSetVectord(vertexObj, vertex))
{
vertices[numVerticesOut*3+0]=vertex[0];
vertices[numVerticesOut*3+1]=vertex[1];
vertices[numVerticesOut*3+2]=vertex[2];
if (vertices)
{
vertices[numVerticesOut * 3 + 0] = vertex[0];
vertices[numVerticesOut * 3 + 1] = vertex[1];
vertices[numVerticesOut * 3 + 2] = vertex[2];
}
numVerticesOut++;
}
}
@@ -6730,7 +6733,10 @@ static int extractIndices(PyObject* indicesObj, int* indices, int maxNumIndices)
for (i = 0; i < numIndicesSrc; i++)
{
int index = pybullet_internalGetIntFromSequence(seqIndicesObj,i);
indices[numIndicesOut]=index;
if (indices)
{
indices[numIndicesOut] = index;
}
numIndicesOut++;
}
}
@@ -6806,11 +6812,10 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
}
if (shapeType == GEOM_MESH && verticesObj)
{
int numVertices=0;
int numIndices=0;
double vertices[B3_MAX_NUM_VERTICES*3];
int indices[B3_MAX_NUM_INDICES];
int numVertices= extractVertices(verticesObj, 0, B3_MAX_NUM_VERTICES);
int numIndices= extractIndices(indicesObj, 0, B3_MAX_NUM_INDICES);
double* vertices = numVertices ? malloc(numVertices * 3 * sizeof(double)) : 0;
int* indices = numIndices ? malloc(numIndices * sizeof(int)) : 0;
numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES);
pybullet_internalSetVectord(meshScaleObj, meshScale);
@@ -6822,11 +6827,13 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
if (numIndices)
{
shapeIndex = b3CreateCollisionShapeAddConcaveMesh(commandHandle, meshScale, vertices, numVertices, indices, numIndices);
shapeIndex = b3CreateCollisionShapeAddConcaveMesh(sm, commandHandle, meshScale, vertices, numVertices, indices, numIndices);
} else
{
shapeIndex = b3CreateCollisionShapeAddConvexMesh(commandHandle, meshScale, vertices, numVertices);
shapeIndex = b3CreateCollisionShapeAddConvexMesh(sm, commandHandle, meshScale, vertices, numVertices);
}
free(vertices);
free(indices);
}
if (shapeType == GEOM_PLANE)